Character: None
Decimal: 192-207
Hexadecimal: 0xC0-0xCF
Command Value: Change in Position, in position units.
Note: This command is supported in RMC100 CPU firmware dated 19980425 or later.
This set of commands is used to move one axis based on the position of another axis. For example, suppose two axes are working together in a press application. Both press the product in pressure-control mode. Then, to release the gases they ramp back the pressure. Next, it is desired that both axes back off ¼ inch. To ensure that no skew is allowed, each axis could be given the same Move Relative to Another Axis command to back up the same distance or to the same position.
The Acceleration, Deceleration, Mode bits and Speed are all used as in a normal Go command.
This group of sixteen commands can use either the Command or Target Position of any of up to eight axes as the base for the move. The table below shows which command to use to select the desired base:
|
Command |
|
|
|
Hex |
Decimal |
Move Relative to… |
|
0xC0 |
192 |
…Axis 0 Command Position |
|
0xC1 |
193 |
…Axis 1 Command Position |
|
0xC2 |
194 |
…Axis 2 Command Position |
|
0xC3 |
195 |
…Axis 3 Command Position |
|
0xC4 |
196 |
…Axis 4 Command Position |
|
0xC5 |
197 |
…Axis 5 Command Position |
|
0xC6 |
198 |
…Axis 6 Command Position |
|
0xC7 |
199 |
…Axis 7 Command Position |
|
0xC8 |
200 |
…Axis 0 Target Position |
|
0xC9 |
201 |
…Axis 1 Target Position |
|
0xCA |
202 |
…Axis 2 Target Position |
|
0xCB |
203 |
…Axis 3 Target Position |
|
0xCC |
204 |
…Axis 4 Target Position |
|
0xCD |
205 |
…Axis 5 Target Position |
|
0xCE |
206 |
…Axis 6 Target Position |
|
0xCF |
207 |
…Axis 7 Target Position |
Why Bother?
These commands are handy when exiting open loop or pressure mode and re-synchronizing axes. Remember the Target and Actual Positions are the same in these modes. That is why there is not a relative move from an actual position.
Copyright (c) 1997-2015 by Delta Computer Systems, Inc.